ATS-RRT: an improved RRT algorithm based on alternative paths and triangular area sampling

The Rapidly Exploring Random Tree Star (RRT*) is a probabilistically complete algorithm. It is recognized as a better path planning algorithm, but its path quality and path planning speed still have room for improvement. This paper proposes an improved RRT* algorithm based on alternative paths and t...

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Bibliographic Details

Published in:	Advanced robotics Vol. 37; no. 10; pp. 605 - 620
Main Authors:	Zhang, Zhi-wei, Jia, Yun-wei, Su, Qi-qi, Chen, Xiao-tong, Fu, Bang-peng
Format:	Journal Article
Language:	English
Published:	Taylor & Francis 19.05.2023
Subjects:	direct connection strategy path planning RRT sampling-based algorithms
ISSN:	0169-1864, 1568-5535
Online Access:	Get full text
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